US7142313B2 - Interaxis angle correction method - Google Patents

Interaxis angle correction method Download PDF

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Publication number
US7142313B2
US7142313B2 US11/370,345 US37034506A US7142313B2 US 7142313 B2 US7142313 B2 US 7142313B2 US 37034506 A US37034506 A US 37034506A US 7142313 B2 US7142313 B2 US 7142313B2
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axis
measurement
correction
information
straight line
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US20060209296A1 (en
Inventor
Takao Ishitoya
Fumihiro Takemura
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Mitutoyo Corp
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Mitutoyo Corp
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
    • G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
    • G01B21/04—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness by measuring coordinates of points
    • G01B21/045—Correction of measurements

Definitions

  • the present invention relates to methods for correcting an interaxis angle. More particularly, the present invention relates to an improved error measurement method and correction calculation method for eliminating position measurement errors caused by interaxis angle errors in an apparatus having a plurality of axes.
  • form measuring instrument are used to carry out contour measurement. In order to improve the contour measurement accuracy, it is important to reduce errors. There are many origins of errors, but in multiaxis form measuring instrument, it is particularly important to reduce the errors between individual axial movements.
  • One error measurement method in the conventional art is a technique for measuring the scale error, straightness, and perpendicularity of the apparatus, for example, with a calibration gauge using a so-called inversion method (see Japanese Unexamined Patent Application Publication No. 2003-302202).
  • the present invention has been conceived to overcome the problems with the conventional art described above, and it is an object thereof to provide an interaxis angle correction method that can perform interaxis angle correction easily and with high accuracy in a multiaxis apparatus.
  • the inventors of the present invention have employed the features described below to improve the accuracy and ease of interaxis angle correction in the apparatus.
  • the inventors selected a single reference sphere from among a plurality of calibration gauges to use as the calibration gauge.
  • the principle selected by the inventors is as follows: when an actual direction of motion of a table with respect to a measurement axis is to form a desired angle accurately, peak points at a plurality of different positions on the same reference sphere in the direction of the translation axis are accurately aligned on an ideal straight line accurately forming the desired angle with respect to the measurement axis.
  • a method according to the present invention is, for an apparatus including a table and a sensor, corrects an error in an angle formed by a measurement axis and a translation axis, and comprises: a reference sphere measurement step; a peak detection step; an error information acquisition step; a correction information acquisition step; and a correction step.
  • the table linearly translates in a reference plane along the translation axis which should form a desired angle at the reference plane with respect to a reference line provided on the reference plane.
  • the sensor has the reference line provided on the reference plane as the axis of measurement.
  • the reference sphere measurement step scans, with the sensor, a reference sphere located on the table of the apparatus, in the measurement-axis direction at a designated translation-axis-direction position on the reference sphere to acquire measurement-axis-direction contour information, and performs the scanning and acquisition at a plurality of different designated translation-axis-direction positions on the same reference sphere, with the table being linearly translated.
  • the peak detection step detects a peak point in the measurement-axis-direction contour information acquired in the reference sphere measurement step, and performs the detection for each set of measurement-axis-direction contour information acquired in the reference sphere measurement step.
  • the error information acquisition step determines an actual straight line representing an actual direction of motion of the table based on position information of each peak point detected in the peak detection step, and obtains information related to the inclination of the actual straight line with respect to an ideal straight line representing an ideal direction of motion of the table.
  • the correction information acquisition step obtains correction information for correcting a measurement error related to the position in the measurement-axis direction, caused by the inclination of the actual straight line determined in the error information acquisition step.
  • the correction step corrects the measurement-axis-direction position information obtained from the sensor, based on the correction information obtained in the correction information acquisition step.
  • reference plane used here means a plane having a planarity with a higher accuracy than a prescribed accuracy required for interaxis angle correction.
  • reference line used here means a line having a straightness with a higher accuracy than the prescribed accuracy required for interaxis angle correction.
  • reference sphere used here means a high accuracy sphere having a radius and sphericity with a higher accuracy than the prescribed accuracy required for interaxis angle correction.
  • the senor in a form measuring instrument serving as the apparatus.
  • the reference sphere which is located on the table, in the measurement-axis direction at a designated translation-axis-direction position on the reference sphere to acquire measurement-axis-direction contour information is scanned, and the scanning and acquisition at a plurality of different designated translation-axis-direction positions on the same reference sphere are performed, with the table being linearly translated.
  • the information related to the inclination of the actual straight line from the ideal straight line which forms an angle of 90 degrees with respect to the measurement axis is obtained.
  • the measurement-axis-direction position information obtained from the sensor is corrected, based on the correction information obtained in the correction information acquisition step to perform perpendicularity correction of the table.
  • the position information in the measurement-axis direction obtained from the sensor and the position information in the direction of the translation axis are substituted into the equation determined in the correction information acquisition step to correct the position information in the measurement-axis direction obtained from the sensor.
  • an interaxis angle correction method because a reference sphere measurement step, a peak detection step, and a correction information acquisition step are combined based on the error measurement principle described above, it is possible to perform interaxis angle correction in a multiaxis apparatus with higher accuracy and greater ease.
  • FIG. 1A is a side view showing an outlined structure of an interaxis angle correction apparatus that implements an interaxis angle correction method according to an embodiment of the present invention.
  • FIG. 1B is a top view showing an outlined structure of the interaxis angle correction apparatus.
  • FIG. 1C is a block diagram showing an outlined configuration of the interaxis angle correction apparatus.
  • FIG. 2 is a diagram depicting a reference sphere measurement step according to the embodiment of the present invention.
  • FIG. 4 is a diagram illustrating the perpendicularity of a table.
  • FIGS. 1A , 1 B, and 1 C show, in outline, the configuration of an interaxis angle correction apparatus 10 implementing an interaxis angle correction method according to an embodiment of the present invention.
  • FIG. 1A is a side view of the apparatus
  • FIG. 1B is a top view of the apparatus
  • FIG. 1C is a block diagram of the apparatus.
  • a contour measuring apparatus apparatus, form measuring instrument
  • the interaxis angle correction apparatus 10 shown in these figures corrects the perpendicularity of the Y-axis table 12 .
  • the Y-axis table 12 is moved straightly on a granite accuracy surface plate 18 , for example, along a translation axis 22 which should form a 90 degree angle (desired angle) on an XY reference plane parallel to the granite accuracy surface plate 18 , with respect to a measurement axis (reference line) 20 provided on the XY reference plane.
  • the sensor 14 uses the measurement axis 20 as a reference straight line provided on the XY reference plane parallel to the granite accuracy surface plate 18 , and outputs Z-coordinate information of a point on an object placed on the Y-axis table 12 with X-coordinate information (measurement-axis-direction position information) corresponding to the Z-coordinate information.
  • the interaxis angle correction apparatus 10 also includes a reference sphere measurement unit 24 , a peak detector 26 , an error information acquisition unit 28 , a correction information acquisition unit 30 , and a correction unit 32 , which is a feature of the present embodiment.
  • the reference sphere measurement unit 24 includes, for example, a measurement apparatus main body 34 , a reference hemisphere (reference sphere) 36 , and a computer 38 having software for implementing measurement control of the measurement apparatus main body 34 .
  • the reference sphere measurement unit 24 performs a reference sphere measurement step (S 10 ).
  • the reference sphere measurement unit 24 scans the reference hemisphere 36 along the measurement axis (X-axis) 20 using the sensor 14 to acquire XZ cross-sectional contour information.
  • the reference sphere measurement unit 24 acquires such XZ cross-sectional contour information with the sensor 14 for a plurality of different designated Y-coordinates on the same reference hemisphere 36 , which can be varied (obtained) by linearly translating the Y-axis table 12 along the translation axis 22 .
  • the peak detector 26 is included in the computer 38 , which includes, for example, software for executing correction computation, and performs a peak detection step (S 12 ).
  • the peak detector 26 determines the peak point where the maximum Z-coordinate of the XZ cross-sectional contour is obtained at the designated Y-coordinate on the reference hemisphere 36 .
  • the peak detector 26 detects (searches for) X-coordinate information obtained by the sensor 14 at this peak point from data stored in a storage device.
  • the peak detector 26 detects such a peak point for each designated Y-coordinate on the same reference hemisphere 36 .
  • the error information acquisition unit 28 is included in the computer 38 , which includes, for example, the software for executing the correction computation, and performs an error information acquisition step (S 14 ).
  • the error information acquisition unit 28 determines an actual straight line representing the actual direction of motion of the Y-axis table 12 .
  • the error information acquisition unit 28 obtains data related to the inclination ⁇ of this actual straight line with respect to an ideal straight line representing the ideal direction of motion of the Y-axis table 12 .
  • the correction information acquisition unit 30 is included in the computer 38 , which includes, for example, the software for executing the correction computation, and performs a correction information acquisition step (S 16 ).
  • the correction information acquisition unit 30 obtains correction information for correcting a measurement error related to the X-coordinate of a point on the sample placed on the Y-axis table 12 , caused by the inclination ⁇ of the actual straight line determined by the error information acquisition unit 28 .
  • the correction information acquisition unit 30 then stores the correction information in a memory 40 in the computer 38 .
  • a correction step (S 20 , described later) is performed on the measurement result obtained in a workpiece measurement step (S 18 ) performed by a workpiece measurement unit 42 .
  • the workpiece measurement unit 42 uses a workpiece 44 instead of the reference hemisphere 36 , but has basically the same configuration as the reference sphere measurement unit 24 , including the measurement apparatus main body 34 and the computer 38 , which includes, for example, the software for executing measurement control of the measurement apparatus main body 34 .
  • the workpiece measurement unit 42 performs the workpiece measurement step (S 18 ).
  • the workpiece 44 is placed on the Y-axis table 12 instead of the reference hemisphere 36 , and the shape of the workpiece 44 is measured by the workpiece measurement unit 42 .
  • the correction unit 32 is included in the computer 38 , which includes, for example, the software for executing the correction computation, and performs the correction step (S 20 ).
  • the correction unit 32 corrects the X-coordinate information obtained from the sensor 14 by measuring the shape of the workpiece 44 in the workpiece measurement step (S 18 ), based on the correction information in the memory 40 (the correction information obtained by the correction information acquisition unit 30 ).
  • the interaxis angle correction apparatus 10 can correct measurement errors related to the X-coordinate information of points on the workpiece 44 , which is caused by insufficient perpendicularity of the Y-axis table 12 in the contour measuring apparatus 16 .
  • a shape computing device 46 can obtain more highly reliable contour information about the workpiece 44 .
  • the Y-coordinate information of a point on the object placed on the Y-axis table 12 is obtained by a Y-axis 50 sensor located on the translation axis 22 of the Y-axis table 12 .
  • the senor 14 is placed on the granite accuracy surface plate 18 by means of a column 52 .
  • the sensor 14 includes a probe 54 .
  • the X-axis positioning accuracy and the Z-axis positioning accuracy of the sensor 14 are higher than a prescribed accuracy required for perpendicularity.
  • contour measuring apparatus 16 three dimensional contour information about the workpiece 44 is obtained based on a plurality of sets of two dimensional contour information, and the Y-axis table 12 is provided in order to acquire these sets of two dimensional contour information.
  • the Y-axis table 12 is stopped so that the probe 54 is positioned at a designated Y-coordinate on the workpiece 44 . Then, while scanning the workpiece 44 , which is placed on the Y-axis table 12 , in the X-axis direction using the sensor 14 in the contour measuring apparatus 16 , Z-coordinate information and X-coordinate information of points on the workpiece 44 are acquired.
  • Such XZ cross-sectional contour information formed by the Z-coordinate information and the X-coordinate information obtained in this way is acquired while varying the Y-coordinate on the workpiece 44 by linearly translating the Y-axis table 12 .
  • XZ cross-sectional contour information is acquired for a plurality of different Y-coordinates on the same workpiece 44 .
  • the XZ cross-sectional contour information obtained at each Y-coordinate is combined, with the X-coordinates being aligned, to obtain three dimensional contour information about the workpiece 44 .
  • the X-coordinate information obtained by the sensor 14 differs depending on the Y-coordinates, even though the probe is positioned at the same point on the workpiece 44 .
  • the relationship between the X-coordinate and the Y-coordinate of each set of XZ cross-sectional contour information cannot be accurately determined, it may not be possible to obtain higher accuracy three dimensional contour information.
  • the reference hemisphere 36 is measured with the contour measuring apparatus 16 , and the perpendicularity of the Y-axis table 12 is determined based on this measurement result. Then, correction information is acquired for correcting a measurement error due to insufficient perpendicularity of the Y-axis table 12 .
  • the reference hemisphere 36 is placed on the Y-axis table 12 with the bisecting surface of the reference sphere 36 facing the mounting surface of the Y-axis table 12 . Then, the shape of the reference hemisphere 36 is measured with the contour measuring apparatus 16 .
  • the probe 54 moves up and down following the contour of the reference hemisphere 36 .
  • the peak points P 1 (X 1 , Y 1 ), P 2 (X 2 , Y 2 ), and P 3 (X 3 , Y 3 ) must be precisely aligned on an ideal straight line forming an angle of exactly 90 degrees with respect to the measurement axis (X-axis) 20 .
  • the X-coordinate information obtained from the sensor 14 is corrected based on the X-coordinate information and Y-coordinate information of the peak points P 1 , P 2 , and P 3 .
  • the error information acquisition step determines the actual straight line representing the actual direction of motion of the Y-axis table 12 based on the X-coordinate information X 1 and the Y-coordinate information Y 1 of the peak point P 1 , the X-coordinate information X 2 and the Y-coordinate information Y 2 of the peak point P 2 , and the X-coordinate information X 3 and the Y-coordinate information Y 3 of the peak point P 3 , which are all obtained in the peak detection step.
  • an actual straight line 70 can be determined, as shown in FIG. 4 , for example.
  • the error information acquisition step obtains information related to the inclination ⁇ of the actual straight line 70 with respect to an ideal straight line 72 which forms an angle of 90 degrees with respect to the measurement axis 20 and which represents the ideal direction of motion.
  • the correction information acquisition step obtains an equation for acquiring corrected X-coordinate information, based on the inclination ⁇ of the actual straight line 70 obtained in the error information acquisition step as well as the X-coordinate information and Y-coordinate information of each peak point.
  • the X-coordinate information obtained from the sensor 14 and the Y-coordinate information obtained from the Y-axis sensor 50 which are obtained in the workpiece measurement step and have not yet been corrected, are substituted into the equation shown above to correct the X-coordinate information obtained from the sensor 14 to obtain corrected X-coordinate information.
  • the XZ cross-sectional contour information is obtained at each Y-coordinate of the workpiece based on the corrected X-coordinate information obtained as described above, it is possible to substantially reduce the error in position information on the XY plane between the sets of XZ cross-sectional contour information at each Y-coordinate on the workpiece.
  • more highly reliable three dimensional contour information is obtained from the XZ cross-sectional contour information at each Y-coordinate on the workpiece, as described above.
  • the perpendicularity is also evaluated in the conventional art together with the scale error and straightness.
  • a calibration gauge in which a plurality of reference spheres are arrayed two dimensionally is used. Therefore, in the conventional art, in order to eliminate the effects of errors in the calibration gauge itself and the effects of errors in the position of the calibration gauge in the apparatus, it is necessary to employ the above-mentioned inversion method.
  • the accuracy of a single reference sphere serving as a calibration gauge is designed to be higher than that in the conventional art, in other words, higher than the accuracy with which the plurality of reference spheres can be two dimensionally arranged and the positioning accuracy of the calibration gauge in the apparatus.
  • the present embodiment is based on the principle that, when the translation axis of the Y-axis table with respect to the measurement axis is exactly 90 degrees, the peak points at different Y-coordinates on the same reference sphere are precisely aligned on the ideal straight line.
  • the effects of errors in the calibration gauge itself and effects due to directionality can be substantially reduced so as to be negligible compared with the conventional art, that is to say, compared with the effects of errors involved in two dimensionally arranging a plurality of reference spheres in the calibration gauge and errors involved in positioning the calibration gauge in the apparatus. Accordingly, in the present embodiment, simply by measuring errors, calculating corrections, and so on, it is possible to measure only the perpendicularity information about the Y-axis table, easily and with high accuracy, without using the conventional inversion method.
  • the peak points have been determined at the three different Y-coordinate positions on the same reference sphere. Instead of this, however, so long as the positions along the translation axis on the same reference sphere differ, peak points may be determined at two different Y-coordinate positions or four or more different Y-coordinate positions. If the peak points are determined at two positions, it is possible to determine the actual straight line passing through the peak points at these two positions, for example. If the peak points are determined at three or more positions, it is possible to determine the actual straight line using the least squares method, for example.
  • the present invention is not limited thereto, and it is possible to use a plurality of reference spheres.
  • a perfectly spherical object or an object including a spherical part can be used.
  • a hemispherical object which can be easily positioned on the table.
  • perpendicularity correction between the Y and Z axes and between the Z and X axes can be carried out in the same way as for the perpendicularity correction between the X and Y axes.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)
  • A Measuring Device Byusing Mechanical Method (AREA)
  • Length Measuring Devices By Optical Means (AREA)
US11/370,345 2005-03-17 2006-03-08 Interaxis angle correction method Expired - Lifetime US7142313B2 (en)

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JP2005076566A JP4705792B2 (ja) 2005-03-17 2005-03-17 軸間角度補正方法
JP2005-76566 2005-03-17

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US20080021672A1 (en) * 2004-03-18 2008-01-24 Renishaw Plc Scanning an Object
US20160138911A1 (en) * 2013-06-28 2016-05-19 Renishaw Plc Calibration of a contact probe
US10345101B2 (en) 2013-05-27 2019-07-09 Carl Zeiss Industrielle Messtechnik Gmbh Device and method for calibrating a coordinate-measuring device

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JP5183884B2 (ja) * 2006-05-08 2013-04-17 株式会社ミツトヨ 補正方法、及び測定装置
CN102006393A (zh) * 2010-12-20 2011-04-06 东莞市金翔电器设备有限公司 可实现自动图像变形校正的大幅面扫描方法
JP6448242B2 (ja) * 2014-07-18 2019-01-09 株式会社ミツトヨ 形状測定装置の測定誤差の補正方法及び形状測定装置
JP6436707B2 (ja) * 2014-09-26 2018-12-12 キヤノン株式会社 算出方法、計測装置、プログラム及び情報処理装置
JP7296334B2 (ja) * 2020-03-26 2023-06-22 住友重機械工業株式会社 真直度計測システム、変位センサ校正方法、及び真直度計測方法
CN119573550B (zh) * 2024-11-22 2025-10-10 中山超精科技有限公司 一种超精密光学测量方法
CN120962596B (zh) * 2025-10-20 2025-12-23 四川大学 一种半球类零件调平调心精密装置及其调节方法

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US20080021672A1 (en) * 2004-03-18 2008-01-24 Renishaw Plc Scanning an Object
US10345101B2 (en) 2013-05-27 2019-07-09 Carl Zeiss Industrielle Messtechnik Gmbh Device and method for calibrating a coordinate-measuring device
US20160138911A1 (en) * 2013-06-28 2016-05-19 Renishaw Plc Calibration of a contact probe
US9863766B2 (en) * 2013-06-28 2018-01-09 Renishaw Plc Calibration of a contact probe

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EP1703251A3 (de) 2009-02-18
US20060209296A1 (en) 2006-09-21
EP1703251A2 (de) 2006-09-20
JP2006258612A (ja) 2006-09-28
EP1703251B1 (de) 2016-08-03
JP4705792B2 (ja) 2011-06-22
CN1834575A (zh) 2006-09-20
CN100538251C (zh) 2009-09-09

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